Related papers: ProphNet: Efficient Agent-Centric Motion Forecasti…

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Predicting the trajectories of road agents is essential for autonomous driving systems. The recent mainstream methods follow a static paradigm, which predicts the future trajectory by using a fixed duration of historical frames. These…

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

Motion forecasting often requires trading interpretability for predictive accuracy. Standard anchor-based architectures rely on opaque latent queries that are highly prone to latent collapse, or naive trajectory sampling that limits…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Accurate motion prediction of surrounding agents is crucial for the safe planning of autonomous vehicles. Recent advancements have extended prediction techniques from individual agents to joint predictions of multiple interacting agents,…

Predicting future locations of agents in the scene is an important problem in self-driving. In recent years, there has been a significant progress in representing the scene and the agents in it. The interactions of agents with the scene and…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

Forecasting the future states of surrounding traffic participants is a crucial capability for autonomous vehicles. The recently proposed occupancy flow field prediction introduces a scalable and effective representation to jointly predict…

Motion prediction (MP) of multiple agents is a crucial task in arbitrarily complex environments, from social robots to self-driving cars. Current approaches tackle this problem using end-to-end networks, where the input data is usually a…

Navigation in dynamic environments requires autonomous systems to reason about uncertainties in the behavior of other agents. In this paper, we introduce a unified framework that combines trajectory planning with multimodal predictions and…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…